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In our past few years' of commercial deployment experiences, we identifylocalization as a critical task in autonomous machine applications, and a greatacceleration target. In this paper, based on the observation that the visualfrontend is a major performance and energy consumption bottleneck, we presentour design and implementation of an energy-efficient hardware architecture forORB (Oriented-Fast and Rotated- BRIEF) based localization system on FPGAs. Tosupport our multi-sensor autonomous machine localization system, we presenthardware synchronization, frame-multiplexing, and parallelization techniques,which are integrated in our design. Compared to Nvidia TX1 and Intel i7, ourFPGA-based implementation achieves 5.6x and 3.4x speedup, as well as 3.0x and34.6x power reduction, respectively.

An Energy-Efficient Quad-Camera Visual System for Autonomous Machines on FPGA Platform